In this paper, the dynamic model is established for the two-link rigid-flexible manipulator, which is represented by nonlinear ordinary differential equations–partial differential equations (ODEs–PDEs). Based on the nonlinear ODE–PDE model, the boundary control strategy is designed to drive the manipulator to follow a given trajectory and eliminate the vibration simultaneously. Considering actuators saturation, smooth hyperbolic tangent function is introduced for dealing with control input constraints problem. It has been rigorously proved that the nonlinear closed-loop system is asymptotically stable by using LaSalle's invariance principle. Simulation results show that the proposed controller is effective.
Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received October 16, 2018; final manuscript received May 24, 2019; published online July 15, 2019. Assoc. Editor: Zdravko Terze.
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Cao, F., and Liu, J. (July 15, 2019). "Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model." ASME. J. Comput. Nonlinear Dynam. September 2019; 14(9): 094501. https://doi.org/10.1115/1.4044012
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